@inbook{903e69e651c04afdbb7d2173a9625ef3,
title = "Development of Anthropomorphic Soft Robotic Hand WSH-1RII",
abstract = "In the future, we will need service robots capable of natural interaction with people, which often involves the use of hands. In this paper, we aim to evaluate the impression of the interaction between a human and a humanoid robot with anthropomorphic hands. In particular, we focus on the influence of the grip of robot{\textquoteright}s hands during handshaking. First, we measured pressured places and forces. Based on this result, we selected motors that have enough torque for handshaking. Finally, we developed a new anthropomorphic soft robot hand named WSH-1RII with the soft material structure, enough grip strength, and force sensing. The experimental results confirmed that the hand gives the users a good impression.",
keywords = "Emotion Expression, Grip Strength, Human Hand, Humanoid Robot, Service Robot",
author = "Nobutsuna Endo and Takuya Kojima and Keita Endo and Fumiya Iida and Kenji Hashimoto and Atsuo Takanishi",
note = "Funding Information: This work is supported by the WABOT-HOUSE Project of Gifu Prefecture and the New Energy and Industrial Technology Development Organization (NEDO), and was conducted by Humanoid Robotics Institute (HRI) at Waseda University. This work was supported in part by Global COE Program ”Global Robot Academia” from the Ministry of Education, Culture, Sports, Science and Technology of Japan. KOBIAN has been designed by 3D CAD software“SolidWorks”. Special thanks to SolidWorks Japan K.K. for the software contribution. Publisher Copyright: {\textcopyright} 2013, CISM, Udine.",
year = "2013",
doi = "10.1007/978-3-7091-1379-0_22",
language = "English",
series = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
publisher = "Springer International Publishing",
pages = "175--182",
booktitle = "CISM International Centre for Mechanical Sciences, Courses and Lectures",
}